uwrovctr-module.cc

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//
// Copyright (c) 2017 Regents of the SIGNET lab, University of Padova.
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// 1. Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// 3. Neither the name of the University of Padova (SIGNET lab) nor the
// names of its contributors may be used to endorse or promote products
// derived from this software without specific prior written permission.
//
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#include "uwrovctr-module.h"
#include <iostream>
#include <rng.h>
#include <stdint.h>
extern packet_t PT_UWCBR;
extern packet_t PT_UWROV;
extern packet_t PT_UWROV_CTR;
 
static class UwROVCtrModuleClass : public TclClass {
public:
 
    UwROVCtrModuleClass() : TclClass("Module/UW/ROV/CTR") {
    }
 
    TclObject* create(int, const char*const*) {
        return (new UwROVCtrModule());
    }
} class_module_uwROV_ctr;
 
UwROVCtrModule::UwROVCtrModule(Position p) 
    : UwCbrModule()
    , sn(0)
    , adaptiveRTO(0)
    , adaptiveRTO_parameter(0.5)
    //, sumrttAck(0)
    //, rttAcksamples(0)
{
    posit=p;
    speed=1;
    bind("adaptiveRTO_", (int *) &adaptiveRTO);
    if (adaptiveRTO == 1) {
        bind("adaptiveRTO_parameter_", (double *) &adaptiveRTO_parameter);
    }
    if (adaptiveRTO_parameter < 0) {
        cerr << NOW << "Invalid adaptive RTO parameter < 0, set to 0.5 " 
            << "by default " << std::endl;
        adaptiveRTO_parameter = 0.5;
    }
}
 
UwROVCtrModule::UwROVCtrModule() 
    : UwCbrModule()
    , sn(0) 
    , adaptiveRTO(0)
    , adaptiveRTO_parameter(0.5)
    //, sumrttAck(0)
    //, rttAcksamples(0)
{
    p = NULL;
    posit = Position();
    speed = 1;
    bind("adaptiveRTO_", (int *) &adaptiveRTO);
    if (adaptiveRTO == 1) {
        bind("adaptiveRTO_parameter_", (double *) &adaptiveRTO_parameter);  
    }
    if (adaptiveRTO_parameter < 0) {
        cerr << NOW << "Invalide adaptive RTO parameter < 0, set to 0.5 "
            << "by default " << std::endl;
        adaptiveRTO_parameter = 0.5;
 
    }
    
}
 
UwROVCtrModule::~UwROVCtrModule() {}
 
int UwROVCtrModule::command(int argc, const char*const* argv) {
    Tcl& tcl = Tcl::instance();
    if(argc == 2){
        if (strcasecmp(argv[1], "getROVMonheadersize") == 0) {
            tcl.resultf("%d", this->getROVMonHeaderSize());
            return TCL_OK;
        }
        else if(strcasecmp(argv[1], "getROVctrheadersize") == 0) {
            tcl.resultf("%d", this->getROVCTRHeaderSize());
            return TCL_OK;
        }
        else if(strcasecmp(argv[1], "getX") == 0) {
            tcl.resultf("%f", posit.getX());
            return TCL_OK;
        }
        else if(strcasecmp(argv[1], "getY") == 0) {
            tcl.resultf("%f", posit.getY());
            return TCL_OK;
        }
        else if(strcasecmp(argv[1], "getZ") == 0) {
            tcl.resultf("%f", posit.getZ());
            return TCL_OK;
        }
    }
    else if(argc == 3){
        if (strcasecmp(argv[1], "setPosition") == 0) {
            Position* p = dynamic_cast<Position*> (tcl.lookup(argv[2]));
            posit = *p;
            return TCL_OK;
        } else if (strcasecmp(argv[1], "setSpeed") == 0) {
            speed = atof(argv[2]);
            return TCL_OK;
        } else if (strcasecmp(argv[1], "setAdaptiveRTOparameter") == 0) {
            adaptiveRTO_parameter = atof(argv[2]);
            return TCL_OK;
        }
    }
    else if(argc == 5){
        if (strcasecmp(argv[1], "sendPosition") == 0) {
            newX = atof(argv[2]);
            newY = atof(argv[3]);
            newZ = atof(argv[4]);
            this->reset_retx();
            this->transmit();
            tcl.resultf("%s", "position Setted");
            return TCL_OK;
        }
    }else if(argc == 6){
        if (strcasecmp(argv[1], "sendPosition") == 0) {
            newX = atof(argv[2]);
            newY = atof(argv[3]);
            newZ = atof(argv[4]);
            speed = atof(argv[5]);
            this->reset_retx();
            this->transmit();
            tcl.resultf("%s", "position Setted");
            return TCL_OK;
        }
    }
    return UwCbrModule::command(argc,argv);
}
 
void UwROVCtrModule::transmit() {
    sendPkt();
 
    if (adaptiveRTO == 1 && rttsamples > 0) {
        period_ =  sumrtt/rttsamples + adaptiveRTO_parameter* sumrtt/rttsamples;
        if (debug_) {
            std::cout << NOW << " UwROVCtrModule::RTO set to " << period_ 
                << std::endl;
        }
    }
    
    sendTmr_.resched(period_);
}
 
void UwROVCtrModule::start() {}
 
void UwROVCtrModule::setPosition(Position p){
    posit = p;
}
 
void UwROVCtrModule::initPkt(Packet* p) {
    if(this->p == NULL){
        hdr_uwROV_ctr* uwROVh = HDR_UWROV_CTR(p);
        uwROVh -> x() = newX;
        uwROVh->y() = newY;
        uwROVh->z() = newZ;
        uwROVh->speed() = speed;
        uwROVh->sn() = ++sn;
        this->p = p;
    }
    else{
        hdr_uwROV_ctr* uwROVh = HDR_UWROV_CTR(p);
        uwROVh->x() = newX;
        uwROVh->y() = newY;
        uwROVh->z() = newZ;
        uwROVh->speed() = speed;
        uwROVh->sn() = sn;
        if (debug_) { 
            std::cout << NOW << " UwROVCtrModule::initPkt(Packet *p) " 
                << "Retransmitting"<< std::endl;
        }
    }
 
    if (debug_) { 
        if (rttsamples > 0) {
            std::cout << NOW << " RTT UwROVCtr: " << sumrtt/rttsamples 
                << " s" << std::endl;
        }
    }
 
    UwCbrModule::initPkt(p);
    if (debug_) {
        hdr_uwROV_ctr* uwROVh = HDR_UWROV_CTR(p);
        std::cout << NOW << " UwROVCtrModule::initPkt(Packet *p)  setting new" 
            << " ROV way-point: X = "<< uwROVh->x() <<", Y = " 
            << uwROVh->y() << ", Z = " << uwROVh->z()<< std::endl;
    }
}
 
void UwROVCtrModule::recv(Packet* p, Handler* h) {
    recv(p);
}
 
void UwROVCtrModule::recv(Packet* p) {
    hdr_uwROV_monitoring* monitoring = HDR_UWROV_MONITORING(p);
    x_rov = monitoring->x();
    y_rov = monitoring->y();
    z_rov = monitoring->z();
 
    
    hdr_uwcbr *uwcbrh = HDR_UWCBR(p);
    hdr_cmn *ch = hdr_cmn::access(p);
    if(monitoring->ack() == sn + 1) {
        sendTmr_.force_cancel();
        this->p = NULL;
    }
 
    if(monitoring->ack() > 0 && debug_) 
        std::cout << NOW << " UwROVCtrModule::recv(Packet *p) control ACK "
            << "received " << monitoring->ack()<< std::endl;
    else if((monitoring->ack())<0 && debug_)
        std::cout << NOW << " UwROVCtrModule::recv(Packet *p) control error " 
            <<"received"<< std::endl;
    if (debug_ > 10)
        std::cout << NOW << " UwROVCtrModule::recv(Packet *p) ROV monitoring "
            << "position: X = " << x_rov << ", Y = " << y_rov 
            << ", Z = " << z_rov << std::endl;
 
    UwCbrModule::recv(p);
 
}